void followPlanet(jrPlanet *pPlanet) {
camSet(pPlanet->afPosition[0], pPlanet->afPosition[1], pPlanet->afPosition[2] + 6000.0f, g_Camera);
}
void test_camRecursiveKeypoints()
{
CamImage image, dest;
CamKeypoints points;
int i;
const int x = 8;
int angle;
double costheta;
double sintheta;
const int xp[4] = {-1, 1, 1, -1};
const int yp[4] = {-1, -1, 1, 1};
CamWarpingParams params;
printf("Recursive keypoints detection :\n");
camAllocateImage(&image, 256, 256, CAM_DEPTH_8U);
camAllocateKeypoints(&points, 100);
camSet(&image, 0);
// camDrawRectangle(&image, 102, 120, 156, 152, 128);
// camFillColor(&image, 103, 121, 128, -1);
camDrawRectangle(&image, 120, 50, 150, 70, 28);
camDrawRectangle(&image, 100, 35, 180, 90, 180);
// camFillColor(&image, 123, 36, 128, -1);
//
// camDrawCircle(&image, 50, 50, 10, 128);
// camFillColor(&image, 50, 50, 128, -1);
// camDrawCircle(&image, 80, 50, 5, 128);
// camFillColor(&image, 80, 50, 128, -1);
// camDrawCircle(&image, 100, 50, 3, 128);
// camFillColor(&image, 100, 50, 128, -1);
#if 1
angle = 20;
costheta = cos(angle * 2 * M_PI / 360);
sintheta = sin(angle * 2 * M_PI / 360);
for (i = 0; i < 4; i++) {
params.p[i].x = (int)floor((costheta * xp[i] - sintheta * yp[i]) * 15 + 0.5);
params.p[i].y = (int)floor((sintheta * xp[i] + costheta * yp[i]) * 15 + 0.5);
params.p[i].x += 192;
params.p[i].y += 192;
}
for (i = 0; i < 4; i++) {
camDrawLine(&image, params.p[i].x, params.p[i].y, params.p[(i+1)%4].x, params.p[(i+1)%4].y, 128);
}
camFillColor(&image, 192, 192, 128, -1);
angle = 30;
costheta = cos(angle * 2 * M_PI / 360);
sintheta = sin(angle * 2 * M_PI / 360);
for (i = 0; i < 4; i++) {
params.p[i].x = (int)floor((costheta * xp[i] - sintheta * yp[i]) * 10 + 0.5);
params.p[i].y = (int)floor((sintheta * xp[i] + costheta * yp[i]) * 10 + 0.5);
params.p[i].x += 50;
params.p[i].y += 192;
}
for (i = 0; i < 4; i++) {
camDrawLine(&image, params.p[i].x, params.p[i].y, params.p[(i+1)%4].x, params.p[(i+1)%4].y, 128);
}
camFillColor(&image, 50, 192, 128, -1);
#endif
dest.imageData = NULL;
camKeypointsRecursiveDetector(&image, NULL, &points, 20, 0);
for (i = 0; i < points.nbPoints; i++) {
printf("x=%d y=%d value=%d scale=%d size=%d angle=%d\n", points.keypoint[i]->x, points.keypoint[i]->y, points.keypoint[i]->value, points.keypoint[i]->scale, points.keypoint[i]->size, points.keypoint[i]->angle);
}
camDrawKeypoints(&points, &image, 192);
camSavePGM(&image, "output/keypoints_recursive.pgm");
camDeallocateImage(&image);
camDeallocateImage(&dest);
camFreeKeypoints(&points);
}
